It could certainly be done, but considering what happens when several people decide to do what you're doing, it's not something that should be done. Big difference between a couple of trips to the toilet vs dumping the contents of a 40 gallon black tank. Figure how much that adds up with 5 or 6 people doing it. And if there's a pit toilet, use that instead of your RV toilet.
They recommend against it for a reason, and if you want to camp somewhere secluded like this, then be prepared. Like they say: Pack it in, pack it out.
